Fair Value Measurements - Summary of Changes in Estimated Fair Value of Financial Liabilities (Details) - USD ($)	12 Months Ended
Dec. 31, 2022	Dec. 31, 2021
Success Payment Liabilities
Fair Value, Asset, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Other income (expense), net	Other income (expense), net
Fair Value, Liability, Recurring Basis, Unobservable Input Reconciliation, Gain (Loss), Statement of Income or Comprehensive Income [Extensible Enumeration]	Research and development	Research and development
Equity Warrant Investment
Equity Warrant Investment
Ending Balance	$ 0
Equity Warrant Investment \| Level 3
Equity Warrant Investment
Beginning Balance	1,067,000	$ 1,323,000
Changes in fair value	(1,067,000)	(256,000)
Ending Balance	0	1,067,000
Success Payment Liabilities \| Level 3
Success Payment Liabilities
Beginning Balance	9,486,000	5,773,000
Change in fair value	(5,130,000)	3,713,000
Ending Balance	$ 4,356,000	$ 9,486,000

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

No definition available.

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- Definition

A roll forward is a reconciliation of a concept from the beginning of a period to the end of a period.

+ References

No definition available.

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- Definition

Amount of gain (loss) recognized in income from asset measured at fair value on recurring basis using unobservable input (level 3).

+ References

Reference 1: http://www.xbrl.org/2003/role/disclosureRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)(1)
-URI https://asc.fasb.org/extlink&oid=126976982&loc=d3e19207-110258

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- Definition

Fair value of financial instrument classified as an asset measured using unobservable inputs that reflect the entity's own assumption about the assumptions market participants would use in pricing.

+ References

Reference 1: http://fasb.org/us-gaap/role/ref/legacyRef
-Publisher FASB
-Name Accounting Standards Codification
-Topic 820
-SubTopic 10
-Section 50
-Paragraph 2
-Subparagraph (c)
-URI https://asc.fasb.org/extlink&oid=126976982&loc=d3e19207-110258

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- Definition

Amount of gain (loss) recognized in income from liability measured at fair value on recurring basis using unobservable input (level 3).

+ References

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- Definition

Fair value of financial instrument classified as a liability measured using unobservable inputs that reflect the entity's own assumption about the assumptions market participants would use in pricing.

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- Definition

Indicates line item in statement in which net income is reported that includes gain (loss) from asset measured at fair value using unobservable input (level 3).

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Indicates line item in statement in which net income is reported that includes gain (loss) from liability measured at fair value using unobservable input (level 3).

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